CN114995219B - Multi-aperture rapid splicing imaging control system based on ARM system - Google Patents
Multi-aperture rapid splicing imaging control system based on ARM system Download PDFInfo
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Abstract
The invention provides an ARM system-based multi-aperture rapid splicing imaging control system, which comprises: the system comprises an upper computer, an ARM controller, a JTAG/SWD communication interface, a USART serial port communication module, a multi-path power supply conversion module, an N-path stepping motor driving module, an N-path stepping motor, an M-aperture camera, a prism rotation synchronization module and an image processing module. The method aims to improve the rapidness and the instantaneity of image output of the rotary biprism multi-aperture imaging system, and secondly, the synchronism of a plurality of rotary prisms is ensured while the plurality of prisms rotate.
Description
Technical Field
The invention belongs to the technical field of ARM processor control systems and imaging control, and particularly relates to a multi-aperture rapid splicing imaging control system based on an ARM system.
Background
With the rapid development of the embedded technology, the performance of the embedded processor is greatly improved, the embedded real-time control function is gradually perfected, the control system based on the embedded processor is widely applied to various industrial fields such as unmanned vehicles, unmanned planes and unmanned ships, and the control system based on the embedded processor is faster, more stable and more reliable in controlling the movement of the multipath stepping motor. Also, embedded processor-based control systems may be applied in the field of multi-aperture imaging systems.
For example, in a 9-group rotating biprism imaging system, an embedded processor can be used as a main control unit of a control system, an embedded real-time operating system is adopted to control N paths of motors to move independently in real time, and meanwhile, corresponding programs can be written for the embedded processor according to the functional requirement of enlarging an imaging view field of a nine-aperture camera imaging system, so that the imaging time and the imaging view field of the nine-aperture imaging system are improved, and the convenience and reliability of the imaging system are improved.
There are various ways to control the multiple stepper motors. The prior art can be broadly divided into the following three categories: (1) motion control card control; PLC control; and (5) controlling by a singlechip. However, the number of motors is generally only small, and real-time performance is difficult to ensure, and if the number of stepping motors is required to be controlled simultaneously, the number of controllers or single-chip computers needs to be increased. (2) In the modularized multi-axis stepping motor motion control system (patent No. 202022444689. X), a mode of adding a motion controller (usually an MCU or a DSP) and a driver is adopted, and through modularized design of each unit and connection by a quick cable, the method has the advantages of more original parts, complex circuit, no benefit for miniaturization and higher cost. (3) Multi-axis stepper motor control system based on STM32 to control L6470H driver (patent No. 201710932658. X) proposes an ARM-based control method, which is generally applicable to control of three-axis stepper motors, and when more multi-path stepper motors are required to be controlled, multiple ARM cores are required, which is also disadvantageous for integration.
Disclosure of Invention
Aiming at the defects and shortcomings of the prior art, the invention aims to provide a multi-aperture rapid splicing imaging control system based on an ARM system, which aims to improve the rapidity and instantaneity of image output of a rotary biprism multi-aperture imaging system, and secondly, ensures the synchronism of a plurality of rotary prisms while the plurality of prisms rotate.
The system comprises an upper computer, an ARM controller, a JTAG/SWD communication interface, a USART serial port communication module, a multi-path power supply conversion module, an N-path stepping motor driving module, an N-path stepping motor, an M-aperture camera, a real-time operating system, a prism rotation synchronization module and an image processing module. The upper computer sends a control signal to the ARM controller through the USART serial port communication module; the JTAG/SWD communication interface module can be used for burning the control program code to the ARM controller; the ARM controller is used as a main control unit of the control system, can receive and process control signals sent by the upper computer and send pulse control signals to the N paths of stepping motor driving modules; the N-path stepping motor driving module sends motor driving signals to the N-path stepping motor to control the movement of the N-path stepping motor, and the two-path stepping motor controls a group of rotating biprism apertures, so that the control of the M-aperture camera by the N-path stepping motor is realized; the image processing module uses an image stitching technology to perform centralized processing on the image information acquired by the multi-aperture camera, and finally performs image output. A method for realizing prism rotation synchronous control is designed based on an ARM real-time operation system, and can effectively improve the speed of image splicing, reduce imaging time and ensure the synchronism of a plurality of rotary prisms.
The invention adopts the following technical scheme:
Multi-aperture rapid stitching imaging control system based on ARM system, which is characterized by comprising: the system comprises an upper computer, an ARM controller, a JTAG/SWD communication interface, a USART serial port communication module, a multi-path power supply conversion module, an N-path stepping motor driving module, an N-path stepping motor, an M-aperture camera, a prism rotation synchronization module and an image processing module;
the upper computer sends a control signal to the ARM controller through the USART serial port communication module;
the JTAG/SWD communication interface module is used for burning the control program code to the ARM controller;
The ARM controller is used as a main control unit of the control system and is used for receiving and processing control signals sent by the upper computer and sending pulse control signals to the N paths of stepping motor driving modules;
The N-path stepping motor driving module sends motor driving signals to the N-path stepping motor to control the movement of the N-path stepping motor, wherein the N-path stepping motor moving module is connected with the M-aperture camera, and every two paths of stepping motors correspondingly control a group of rotating biprism apertures so as to realize the control of the N-path stepping motor on the M-aperture camera;
The multi-path power supply conversion module is connected with the N paths of stepping motor driving modules and is used for converting the 24V switching power supply input into 12V power supply output, so that N paths of independent 12V power supplies are provided for the N paths of motor driving modules and N paths of stepping motor driving chips in the N paths of stepping motor driving modules are powered;
the prism rotation synchronization module is used for executing the process of acquiring the prism angle, calculating the motor rotation time and determining the motor speed and the prism synchronization in place;
the image processing module uses an image stitching technology to perform centralized processing on the image information acquired by the multi-aperture camera and performs image output.
Further, the ARM controller is used as a main control unit of the whole system, and the M aperture camera is controlled by controlling the rotary motion of the N paths of motors.
Further, the ARM controller is connected with a real-time operating system (which can be arranged on an upper computer platform) and comprises three parts, namely task modeling, task management and task scheduling:
The task modeling section is used for performing multi-task creation, and the tasks include: a system initialization task, a serial port communication task, a prism position acquisition task, a motor rotation task, a motor speed determination task, an image acquisition task and an image information processing task;
The task management part is used for setting a plurality of tasks in the real-time operating system into four states of an operation state, a ready state, a blocking state and a suspension state so as to schedule the tasks, and setting different priorities for the plurality of tasks so as to determine the execution time sequence of the tasks;
The task scheduling section is configured to: firstly, searching tasks with highest priority in a task stack, and for tasks with different priorities, ensuring the task with the highest priority to be executed preferentially through interruption on the basis of main program circulation; secondly, initializing a stack of the current task, and entering a state of waiting for receiving instructions; finally, making a decision after receiving the instruction, and further starting to execute the corresponding task; in the process of executing the task, if a task with higher priority needs to be executed, interrupting the current task, and executing the task with higher priority instead; different tasks may be switched between four different task states, an operational state, a ready state, a blocking state, and a suspended state.
Further, the working process of the prism rotation synchronization module comprises the following steps:
step A1: powering up and initializing;
Step A2: the ARM controller regulates and controls the prism position acquisition task: firstly, setting the priority of a prism position acquisition task; secondly, setting a task stack and initializing; finally, respectively obtaining the current angle value of each prism and the angle value required to rotate to the target position;
Step A3: the ARM controller regulates and controls the motor speed determining task: firstly, setting the priority of a motor speed determining task; secondly, setting a task stack and initializing; according to the current and target prism angle values obtained in the step A2, respectively calculating the angle required to be rotated by each stepping motor, and further calculating the time required to be rotated by each stepping motor; finally, selecting an optimal time t by utilizing a preferred algorithm according to the time required by rotation of each stepping motor, and recalculating the rotation speed of each stepping motor according to the time t;
step A4: the ARM controller regulates and controls the motor rotation task, and firstly, the priority of the motor rotation task is set; secondly, setting a task stack and initializing; and finally, after receiving the rotating speed data command of each stepping motor recalculated in the step A3, starting running all stepping motors, and finally realizing synchronous rotation of all prisms.
Further, the working process of the image processing module comprises the following steps:
Step B1: acquiring a certain sequence of image data by using an M-aperture camera, wherein an overlapping area exists between partial sequence images;
step B2: preprocessing an image;
Step B3: carrying out image registration by adopting a feature matching mode based on a SURF algorithm, and finding out corresponding relations among different images so as to change the images to the same coordinate system;
Step B4: obtaining a mapping relation of two image pixel points after the image matching is completed, and obtaining an image transformation relation according to the relation of the points, namely calculating image space transformation model parameters; after the two images are projected to the same plane, splicing according to the overlapping area, and carrying out fusion treatment on the spliced part;
step B5: and (3) repeating the step (B4) and the step (B5), performing image stitching on the M images, and finally outputting panoramic images formed by stitching the M images together.
Further, the 24V switching power supply in the multi-path power supply conversion module is connected with the N DC/DC conversion devices, so that voltage conversion can be realized, 24V voltage is converted into 12V voltage, and the output voltage of each DC/DC conversion device is respectively and independently connected with a corresponding stepping motor driving chip, namely, each driving chip is supplied with power by an independent 12V power supply. The power supply of each driving chip is separated, so that the motor driving execution independence is protected, and the stability and the safety of the system are improved.
Compared with the prior art, the method and the system can effectively improve the image splicing speed, reduce the imaging time and ensure the synchronism of a plurality of rotating prisms.
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The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
Fig. 2 is a schematic workflow diagram of a prism rotation synchronization module according to an embodiment of the invention.
Detailed Description
In order to make the features and advantages of the present patent more comprehensible, embodiments accompanied with figures are described in detail below.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Referring to fig. 1, the multi-aperture rapid splicing imaging control system based on the ARM real-time operating system provided in this embodiment includes an upper computer, an ARM controller, a JTAG/SWD communication interface module, a USART serial port communication module, a multi-path power conversion module, an N-path stepper motor driving module, an N-path stepper motor, an M-aperture camera, a real-time operating system, a prism rotation synchronization module, and an image processing module.
The upper computer sends a control signal to the ARM controller through the USART serial port communication module, the JTAG/SWD communication interface module can be used for burning in software control program codes into the ARM controller, the ARM controller serves as a main control unit of a control system, the ARM controller can receive and process the control signal sent by the upper computer and sends a pulse control signal to the N-path stepping motor driving module, the N-path stepping motor driving module sends a motor driving signal to the N-path stepping motor to perform motion control on the N-path stepping motor, the two-path stepping motor controls a group of rotary biprism apertures, accordingly, the N-path stepping motor controls an M aperture camera, and the image processing module performs centralized processing on image information collected by the multi-aperture camera by using an image splicing technology and finally performs image output.
In this embodiment, the chip adopted by the main control unit is a Cortex-M core, and STM32 series chips of ARM architecture, and the related chips belong to the scope of the right of the application. Function of main control chip: the system is used for running FreeRTOS a real-time operating system and utilizes mechanisms such as queues, binary semaphores, memory management and the like of the FreeRTOS real-time operating system; task priority, task attributes of four states, namely, running state, ready state, blocking state and suspending state of the task; the high priority preemption low priority and the same priority are based on a task scheduling mode of time slice rotation so as to realize the creation, management, priority allocation of multiple tasks such as a system initialization task, a serial port communication task, a prism position acquisition task, a motor rotation task, a motor speed determination task, an image acquisition task, an image information processing task and the like. Through FreeRTOS use of embedded real-time operation system, realized N way step motor control M aperture camera, effectively improved the speed of image concatenation, reduced imaging time to the synchronism of a plurality of rotating prism has been ensured.
In this embodiment, the real-time operating system includes three parts, i.e., task modeling, task management, and task scheduling; the real-time operating system can be built on an upper computer platform.
Task modeling section: the real-time operating system performs multi-task creation, and main tasks include: system initialization task, serial port communication task, prism position acquisition task, motor rotation task, motor speed determination task, image acquisition task, image information processing task and the like.
And the task management part firstly sets a plurality of tasks in the real-time operating system into four states of an operation state, a ready state, a blocking state and a suspending state so as to schedule the tasks, and secondly sets different priorities for the plurality of tasks so as to realize orderly progress among the tasks with different priorities.
Task scheduling section: firstly, searching tasks with highest priority in a task stack, and for tasks with different priorities, ensuring the task with the highest priority to be executed preferentially through interruption on the basis of main program circulation; secondly, initializing a stack of the current task, and entering a state of waiting for receiving instructions; and finally, making a decision after receiving the instruction, and further starting to execute the corresponding task. In the process of executing the task, if the task with higher priority needs to be executed, interrupting the current task and executing the task with higher priority instead, thereby ensuring the instantaneity of the real-time operating system; different tasks can be switched among four different task states of an operation state, a ready state, a blocking state and a suspension state, so that task switching scheduling of the real-time operating system is realized.
As shown in fig. 2, in this embodiment, the control method of the prism rotation synchronization module is mainly implemented in a prism position obtaining task, a motor speed determining task, and a motor rotation task in a real-time operation system, including obtaining a prism angle, calculating a motor rotation time, determining a motor speed, and synchronizing a prism in place; the method comprises the following steps:
step A1: after the system is powered on, the main control unit initializes the hardware and software systems.
Step A2: the main control unit regulates and controls the prism position acquisition task, and firstly, the priority of the prism position acquisition task is set; secondly, setting a task stack and initializing; and finally, respectively acquiring the current angle value of each prism and the angle value required to rotate to the target position.
Step A3: the main control unit regulates and controls the motor speed determining task, and firstly, the priority of the motor speed determining task is set; secondly, setting a task stack and initializing; further, according to the current and target prism angle values obtained in the step A2, the angle required to be rotated by each stepping motor is calculated respectively, and then the time required to be rotated by each stepping motor is calculated; finally, according to the time required by the rotation of each stepping motor, selecting an optimal time t by utilizing a preferential algorithm, and according to the time t, recalculating the rotation speed of each stepping motor.
Step A4: the main control unit regulates and controls the motor rotation task, and firstly, the priority of the motor rotation task is set; secondly, setting a task stack and initializing; and finally, after receiving the rotating speed data command of each stepping motor recalculated in the step A3, starting running all stepping motors, and finally realizing synchronous rotation of all prisms.
In this embodiment, the multi-path power conversion module adopts N DC/DC power converters with 24V to 12V, and the output voltage of each DC/DC conversion device is separately connected to the corresponding stepping motor driving chip, that is, each driving chip is separately powered by a 12V power source. The power supply of each driving chip is separated, so that the motor driving execution independence is protected, and the stability and the safety of the system are improved.
In this embodiment, the image processing module adopts an image information processing technique for image stitching, which includes the following steps:
Step B1: the M aperture camera module is used for collecting image data of a certain sequence, and the same area with a certain size is ensured to exist between partial sequence images when the image data are collected.
Step B2: and preprocessing the image to improve the image quality. Various filtering modes can be used for optimizing various noises in the image; for image blur distortion, wavelet decomposition processing may be employed for image restoration and enhancement.
Step B3: image registration is performed by adopting a feature matching mode based on a SURF algorithm, and the purpose is to find out corresponding relations among different images so as to change the images to the same coordinate system. The method mainly comprises four processes of accurate positioning of feature points, determination of main directions of the feature points, description of the feature points and matching of the feature points.
Step B4: after the image matching is completed, the mapping relation of the two image pixel points is obtained, and the image transformation relation can be deduced according to the relation of the two image pixel points, namely, the image space transformation model parameters are calculated. And after the two images are projected to the same plane, splicing according to the overlapping area, and carrying out fusion treatment on the spliced part. The method mainly comprises the steps of establishing an image space transformation model and fusing overlapping areas.
Step B5: and (3) repeating the step B4 and the step B5, so that image stitching is carried out on the M images, and finally, panoramic images formed by stitching the M images are output.
Preferably, in the embodiment, the main control unit adopts an ARM processor, the DC/DC converter adopts 24V to 12V, the motor for controlling the prism to move is a 42-series stepping motor, the real-time operating system adopts FreeRTOS embedded real-time operating system, and the serial port communication adopts 485 bus communication.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
The present patent is not limited to the above-mentioned best mode, any person can obtain other various forms of multi-aperture rapid splicing imaging control system based on ARM system under the teaching of the present patent, and all equivalent changes and modifications made according to the scope of the present patent application shall be covered by the present patent.
Claims (4)
1. Multi-aperture rapid stitching imaging control system based on ARM system, which is characterized by comprising: the system comprises an upper computer, an ARM controller, a JTAG/SWD communication interface, a USART serial port communication module, a multi-path power supply conversion module, an N-path stepping motor driving module, an N-path stepping motor, an M-aperture camera, a prism rotation synchronization module and an image processing module;
the upper computer sends a control signal to the ARM controller through the USART serial port communication module;
the JTAG/SWD communication interface module is used for burning the control program code to the ARM controller;
The ARM controller is used as a main control unit of the control system and is used for receiving and processing control signals sent by the upper computer and sending pulse control signals to the N paths of stepping motor driving modules;
The N-path stepping motor driving module sends motor driving signals to the N-path stepping motor to control the movement of the N-path stepping motor, wherein the N-path stepping motor moving module is connected with the M-aperture camera, and every two paths of stepping motors correspondingly control a group of rotating biprism apertures so as to realize the control of the N-path stepping motor on the M-aperture camera;
The multi-path power supply conversion module is connected with the N paths of stepping motor driving modules and is used for converting the 24V switching power supply input into 12V power supply output, so that N paths of independent 12V power supplies are provided for the N paths of motor driving modules and N paths of stepping motor driving chips in the N paths of stepping motor driving modules are powered;
the prism rotation synchronization module is used for executing the process of acquiring the prism angle, calculating the motor rotation time and determining the motor speed and the prism synchronization in place;
The image processing module uses an image stitching technology to perform centralized processing on the image information acquired by the multi-aperture camera and performs image output;
the working process of the prism rotation synchronization module comprises the following steps:
step A1: powering up and initializing;
Step A2: the ARM controller regulates and controls the prism position acquisition task: firstly, setting the priority of a prism position acquisition task; secondly, setting a task stack and initializing; finally, respectively obtaining the current angle value of each prism and the angle value required to rotate to the target position;
Step A3: the ARM controller regulates and controls the motor speed determining task: firstly, setting the priority of a motor speed determining task; secondly, setting a task stack and initializing; according to the current and target prism angle values obtained in the step A2, respectively calculating the angle required to be rotated by each stepping motor, and further calculating the time required to be rotated by each stepping motor; finally, selecting an optimal time t by utilizing a preferred algorithm according to the time required by rotation of each stepping motor, and recalculating the rotation speed of each stepping motor according to the time t;
step A4: the ARM controller regulates and controls the motor rotation task, and firstly, the priority of the motor rotation task is set; secondly, setting a task stack and initializing; and finally, after receiving the rotating speed data command of each stepping motor recalculated in the step A3, starting running all stepping motors, and finally realizing synchronous rotation of all prisms.
2. The ARM system-based multi-aperture fast stitching imaging control system of claim 1, wherein: the ARM controller controls the M aperture camera by controlling the rotary motion of the N paths of motors.
3. The ARM system-based multi-aperture fast stitching imaging control system of claim 1, wherein: the ARM controller is connected with a real-time operating system and comprises three parts, namely task modeling, task management and task scheduling:
The task modeling section is used for performing multi-task creation, and the tasks include: a system initialization task, a serial port communication task, a prism position acquisition task, a motor rotation task, a motor speed determination task, an image acquisition task and an image information processing task;
The task management part is used for setting a plurality of tasks in the real-time operating system into four states of an operation state, a ready state, a blocking state and a suspension state so as to schedule the tasks, and setting different priorities for the plurality of tasks so as to determine the execution time sequence of the tasks;
The task scheduling section is configured to: firstly, searching tasks with highest priority in a task stack, and for tasks with different priorities, ensuring the task with the highest priority to be executed preferentially through interruption on the basis of main program circulation; secondly, initializing a stack of the current task, and entering a state of waiting for receiving instructions; finally, making a decision after receiving the instruction, and further starting to execute the corresponding task; in the process of executing the task, if a task with higher priority needs to be executed, interrupting the current task, and executing the task with higher priority instead; different tasks may be switched between four different task states, an operational state, a ready state, a blocking state, and a suspended state.
4. The ARM system-based multi-aperture fast stitching imaging control system of claim 1, wherein: the working process of the image processing module comprises the following steps:
Step B1: acquiring a certain sequence of image data by using an M-aperture camera, wherein an overlapping area exists between partial sequence images;
step B2: preprocessing an image;
Step B3: carrying out image registration by adopting a feature matching mode based on a SURF algorithm, and finding out corresponding relations among different images so as to change the images to the same coordinate system;
Step B4: obtaining a mapping relation of two image pixel points after the image matching is completed, and obtaining an image transformation relation according to the relation of the points, namely calculating image space transformation model parameters; after the two images are projected to the same plane, splicing according to the overlapping area, and carrying out fusion treatment on the spliced part;
step B5: and (3) repeating the step (B4) and the step (B5), performing image stitching on the M images, and finally outputting panoramic images formed by stitching the M images together.
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